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[simspark-svn] SF.net SVN: simspark:[101] branches/multiphys/spark
|
From: <a-...@us...> - 2009-11-18 07:11:35
|
Revision: 101
http://simspark.svn.sourceforge.net/simspark/?rev=101&view=rev
Author: a-held
Date: 2009-11-18 07:11:28 +0000 (Wed, 18 Nov 2009)
Log Message:
-----------
Rolled back branch to revision 97
Revision Links:
--------------
http://simspark.svn.sourceforge.net/simspark/?rev=97&view=rev
Modified Paths:
--------------
branches/multiphys/spark/lib/oxygen/CMakeLists.txt
branches/multiphys/spark/lib/oxygen/oxygen.cpp
branches/multiphys/spark/lib/oxygen/oxygen.h
branches/multiphys/spark/lib/oxygen/physicsserver/body.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/body.h
branches/multiphys/spark/lib/oxygen/physicsserver/body_c.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/boxcollider.h
branches/multiphys/spark/lib/oxygen/physicsserver/collider.h
branches/multiphys/spark/lib/oxygen/physicsserver/collisionhandler.h
branches/multiphys/spark/lib/oxygen/physicsserver/joint.h
branches/multiphys/spark/lib/oxygen/physicsserver/physicsserver.h
branches/multiphys/spark/lib/oxygen/physicsserver/space.h
branches/multiphys/spark/lib/oxygen/physicsserver/world.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/world.h
branches/multiphys/spark/lib/oxygen/physicsserver/world_c.cpp
branches/multiphys/spark/lib/oxygen/simulationserver/agentcontrol.cpp
branches/multiphys/spark/lib/oxygen/simulationserver/agentcontrol.h
branches/multiphys/spark/lib/oxygen/simulationserver/netcontrol.cpp
branches/multiphys/spark/lib/oxygen/simulationserver/simulationserver.cpp
branches/multiphys/spark/lib/oxygen/simulationserver/simulationserver.h
branches/multiphys/spark/plugin/rosimporter/rosimporter.cpp
Added Paths:
-----------
branches/multiphys/spark/lib/oxygen/physicsserver/odeobject.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/odeobject.h
branches/multiphys/spark/lib/oxygen/physicsserver/odeobject_c.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/odewrapper.h
Removed Paths:
-------------
branches/multiphys/spark/lib/oxygen/physicsserver/imp/
branches/multiphys/spark/lib/oxygen/physicsserver/ode/
branches/multiphys/spark/lib/oxygen/physicsserver/physicsobject.h
branches/multiphys/spark/lib/oxygen/physicsserver/physicsobject_c.cpp
Property Changed:
----------------
branches/multiphys/spark/lib/oxygen/
Property changes on: branches/multiphys/spark/lib/oxygen
___________________________________________________________________
Deleted: svn:mergeinfo
- /trunk/spark/lib/oxygen:95-99
Modified: branches/multiphys/spark/lib/oxygen/CMakeLists.txt
===================================================================
--- branches/multiphys/spark/lib/oxygen/CMakeLists.txt 2009-11-18 00:29:17 UTC (rev 100)
+++ branches/multiphys/spark/lib/oxygen/CMakeLists.txt 2009-11-18 07:11:28 UTC (rev 101)
@@ -14,51 +14,33 @@
gamecontrolserver/behavior.h
oxygen.h
oxygen_defines.h
-
- #abstract physics
- physicsserver/physicsserver.h
- physicsserver/physicsobject.h
physicsserver/body.h
- physicsserver/collider.h
+ physicsserver/bodycontroller.h
physicsserver/boxcollider.h
physicsserver/ccylindercollider.h
physicsserver/collider.h
physicsserver/collisionhandler.h
physicsserver/contactjointhandler.h
+ physicsserver/odeobject.h
+ physicsserver/odewrapper.h
physicsserver/physicsserver.h
physicsserver/planecollider.h
+ physicsserver/raycollider.h
+ physicsserver/recorderhandler.h
+ physicsserver/space.h
physicsserver/spherecollider.h
+ physicsserver/transformcollider.h
+ physicsserver/world.h
+ physicsserver/dragcontroller.h
+ physicsserver/velocitycontroller.h
physicsserver/joint.h
physicsserver/balljoint.h
physicsserver/hingejoint.h
- physicsserver/hinge2joint.h
physicsserver/fixedjoint.h
physicsserver/sliderjoint.h
physicsserver/universaljoint.h
- physicsserver/space.h
- physicsserver/world.h
- physicsserver/bodycontroller.h
- physicsserver/collisionhandler.h
- physicsserver/contactjointhandler.h
- physicsserver/dragcontroller.h
- physicsserver/raycollider.h
- physicsserver/recorderhandler.h
- physicsserver/transformcollider.h
- physicsserver/velocitycontroller.h
-
- #ODE-specific physics
- physicsserver/odewrapper.h
- physicsserver/odeobject.h
-
-
- #interfaces
- physicsserver/imp/worldimp.h
-
- #ode-specific files
- physicsserver/ode/odeobject.h
- physicsserver/ode/odeworld.h
- physicsserver/ode/odewrapper.h
-
+ physicsserver/hinge2joint.h
+ physicsserver/angularmotor.h
sceneserver/sceneimporter.h
sceneserver/basenode.h
sceneserver/fpscontroller.h
@@ -118,15 +100,12 @@
gamecontrolserver/behavior.cpp
gamecontrolserver/behavior_c.cpp
oxygen.cpp
-
- #abstract physics NOTE: Should only be *_c.cpp files in the end
- physicsserver/physicsserver.cpp
- physicsserver/physicsserver_c.cpp
- physicsserver/physicsobject_c.cpp
physicsserver/body.cpp
physicsserver/body_c.cpp
- physicsserver/collider.cpp
- physicsserver/collider_c.cpp
+ physicsserver/bodycontroller.cpp
+ physicsserver/bodycontroller_c.cpp
+ physicsserver/transformcollider.cpp
+ physicsserver/transformcollider_c.cpp
physicsserver/boxcollider.cpp
physicsserver/boxcollider_c.cpp
physicsserver/ccylindercollider.cpp
@@ -137,61 +116,42 @@
physicsserver/collisionhandler_c.cpp
physicsserver/contactjointhandler.cpp
physicsserver/contactjointhandler_c.cpp
+ physicsserver/odeobject.cpp
+ physicsserver/odeobject_c.cpp
physicsserver/physicsserver.cpp
physicsserver/physicsserver_c.cpp
physicsserver/planecollider.cpp
physicsserver/planecollider_c.cpp
+ physicsserver/raycollider.cpp
+ physicsserver/raycollider_c.cpp
+ physicsserver/recorderhandler.cpp
+ physicsserver/recorderhandler_c.cpp
+ physicsserver/space.cpp
+ physicsserver/space_c.cpp
physicsserver/spherecollider.cpp
physicsserver/spherecollider_c.cpp
+ physicsserver/world.cpp
+ physicsserver/world_c.cpp
+ physicsserver/dragcontroller.cpp
+ physicsserver/dragcontroller_c.cpp
+ physicsserver/velocitycontroller.cpp
+ physicsserver/velocitycontroller_c.cpp
physicsserver/joint.cpp
physicsserver/joint_c.cpp
physicsserver/balljoint.cpp
physicsserver/balljoint_c.cpp
physicsserver/hingejoint.cpp
physicsserver/hingejoint_c.cpp
- physicsserver/hinge2joint.cpp
- physicsserver/hinge2joint_c.cpp
physicsserver/fixedjoint.cpp
physicsserver/fixedjoint_c.cpp
physicsserver/sliderjoint.cpp
physicsserver/sliderjoint_c.cpp
physicsserver/universaljoint.cpp
physicsserver/universaljoint_c.cpp
- physicsserver/space.cpp
- physicsserver/space_c.cpp
- physicsserver/world.cpp
- physicsserver/world_c.cpp
- physicsserver/bodycontroller.cpp
- physicsserver/bodycontroller_c.cpp
- physicsserver/collisionhandler.cpp
- physicsserver/collisionhandler_c.cpp
- physicsserver/contactjointhandler.cpp
- physicsserver/contactjointhandler_c.cpp
- physicsserver/dragcontroller.cpp
- physicsserver/dragcontroller_c.cpp
- physicsserver/raycollider.cpp
- physicsserver/raycollider_c.cpp
- physicsserver/recorderhandler.cpp
- physicsserver/recorderhandler_c.cpp
- physicsserver/transformcollider.cpp
- physicsserver/transformcollider_c.cpp
- physicsserver/velocitycontroller.cpp
- physicsserver/velocitycontroller_c.cpp
-
- #ODE-specific physics
- physicsserver/odeobject.cpp
- physicsserver/odeobject_c.cpp
-
-
- #interfaces
- physicsserver/imp/worldimp_c.cpp
-
- #ODE-specific files
- physicsserver/ode/odeworld.cpp
- physicsserver/ode/odeworld_c.cpp
- physicsserver/ode/odeobject.cpp
- physicsserver/ode/odeobject_c.cpp
-
+ physicsserver/hinge2joint.cpp
+ physicsserver/hinge2joint_c.cpp
+ physicsserver/angularmotor.cpp
+ physicsserver/angularmotor_c.cpp
sceneserver/basenode.cpp
sceneserver/basenode_c.cpp
sceneserver/fpscontroller.cpp
Modified: branches/multiphys/spark/lib/oxygen/oxygen.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/oxygen.cpp 2009-11-18 00:29:17 UTC (rev 100)
+++ branches/multiphys/spark/lib/oxygen/oxygen.cpp 2009-11-18 07:11:28 UTC (rev 101)
@@ -53,44 +53,39 @@
// physics
zg.GetCore()->RegisterClassObject(new CLASS(PhysicsServer), "oxygen/");
- zg.GetCore()->RegisterClassObject(new CLASS(PhysicsObject), "oxygen/");
zg.GetCore()->RegisterClassObject(new CLASS(Body), "oxygen/");
zg.GetCore()->RegisterClassObject(new CLASS(BodyController), "oxygen/");
zg.GetCore()->RegisterClassObject(new CLASS(DragController), "oxygen/");
zg.GetCore()->RegisterClassObject(new CLASS(VelocityController), "oxygen/");
+ zg.GetCore()->RegisterClassObject(new CLASS(ODEObject), "oxygen/");
zg.GetCore()->RegisterClassObject(new CLASS(Space), "oxygen/");
zg.GetCore()->RegisterClassObject(new CLASS(World), "oxygen/");
- zg.GetCore()->RegisterClassObject(new CLASS(WorldImp), "oxygen/");
zg.GetCore()->RegisterClassObject(new CLASS(Joint), "oxygen/");
zg.GetCore()->RegisterClassObject(new CLASS(BallJoint), "oxygen/");
zg.GetCore()->RegisterClassObject(new CLASS(HingeJoint), "oxygen/");
- zg.GetCore()->RegisterClassObject(new CLASS(Hinge2Joint), "oxygen/");
zg.GetCore()->RegisterClassObject(new CLASS(FixedJoint), "oxygen/");
zg.GetCore()->RegisterClassObject(new CLASS(SliderJoint), "oxygen/");
zg.GetCore()->RegisterClassObject(new CLASS(UniversalJoint), "oxygen/");
- zg.GetCore()->RegisterClassObject(new CLASS(Space), "oxygen/");
- zg.GetCore()->RegisterClassObject(new CLASS(World), "oxygen/");
- zg.GetCore()->RegisterClassObject(new CLASS(BodyController), "oxygen/");
+ zg.GetCore()->RegisterClassObject(new CLASS(Hinge2Joint), "oxygen/");
+
+ // collider
+ zg.GetCore()->RegisterClassObject(new CLASS(Collider), "oxygen/");
+ zg.GetCore()->RegisterClassObject(new CLASS(TransformCollider), "oxygen/");
+ zg.GetCore()->RegisterClassObject(new CLASS(BoxCollider), "oxygen/");
+ zg.GetCore()->RegisterClassObject(new CLASS(CCylinderCollider), "oxygen/");
+ zg.GetCore()->RegisterClassObject(new CLASS(PlaneCollider), "oxygen/");
+ zg.GetCore()->RegisterClassObject(new CLASS(RayCollider), "oxygen/");
+ zg.GetCore()->RegisterClassObject(new CLASS(SphereCollider), "oxygen/");
+
+ // collision handler
zg.GetCore()->RegisterClassObject(new CLASS(CollisionHandler), "oxygen/");
zg.GetCore()->RegisterClassObject(new CLASS(ContactJointHandler), "oxygen/");
- zg.GetCore()->RegisterClassObject(new CLASS(DragController), "oxygen/");
- zg.GetCore()->RegisterClassObject(new CLASS(RayCollider), "oxygen/");
zg.GetCore()->RegisterClassObject(new CLASS(RecorderHandler), "oxygen/");
- zg.GetCore()->RegisterClassObject(new CLASS(TransformCollider), "oxygen/");
- zg.GetCore()->RegisterClassObject(new CLASS(VelocityController), "oxygen/");
-
- //ODE-specific physics
- zg.GetCore()->RegisterClassObject(new CLASS(ODEObject), "oxygen/");
-
+
// agentaspect
zg.GetCore()->RegisterClassObject(new CLASS(AgentAspect), "oxygen/");
zg.GetCore()->RegisterClassObject(new CLASS(Effector), "oxygen/");
zg.GetCore()->RegisterClassObject(new CLASS(Perceptor), "oxygen/");
-
- //ODE-specific classes
- zg.GetCore()->RegisterClassObject(new CLASS(ODEObject), "oxygen/");
- zg.GetCore()->RegisterClassObject(new CLASS(ODEWorld), "oxygen/");
-
#ifdef HAVE_SPADES_HEADERS
// spades
Modified: branches/multiphys/spark/lib/oxygen/oxygen.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/oxygen.h 2009-11-18 00:29:17 UTC (rev 100)
+++ branches/multiphys/spark/lib/oxygen/oxygen.h 2009-11-18 07:11:28 UTC (rev 101)
@@ -34,7 +34,6 @@
#include "gamecontrolserver/actionobject.h"
#include "gamecontrolserver/behavior.h"
-//abstract physics classes
#include "physicsserver/body.h"
#include "physicsserver/bodycontroller.h"
#include "physicsserver/dragcontroller.h"
@@ -43,6 +42,7 @@
#include "physicsserver/boxcollider.h"
#include "physicsserver/ccylindercollider.h"
#include "physicsserver/collider.h"
+#include "physicsserver/odeobject.h"
#include "physicsserver/physicsserver.h"
#include "physicsserver/planecollider.h"
#include "physicsserver/raycollider.h"
@@ -60,13 +60,6 @@
#include "physicsserver/universaljoint.h"
#include "physicsserver/hinge2joint.h"
-//physics interfaces
-#include "physicsserver/imp/worldimp.h"
-
-//ode-specific includes
-#include <oxygen/physicsserver/ode/odeobject.h>
-#include <oxygen/physicsserver/ode/odeworld.h>
-
#include "sceneserver/basenode.h"
#include "sceneserver/camera.h"
#include "sceneserver/fpscontroller.h"
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/body.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/body.cpp 2009-11-18 00:29:17 UTC (rev 100)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/body.cpp 2009-11-18 07:11:28 UTC (rev 101)
@@ -334,47 +334,47 @@
AddMass(ODEMass, matrix);
}
-void Body::PrepareCapsule (dMass& mass, float density, float radius, float length) const
+void Body::PrepareCappedCylinder (dMass& mass, float density, float radius, float length) const
{
// direction: (1=x, 2=y, 3=z)
int direction = 3;
- dMassSetCapsule (&mass, density, direction, radius, length);
+ dMassSetCappedCylinder (&mass, density, direction, radius, length);
}
-void Body::SetCapsule (float density, float radius, float length)
+void Body::SetCappedCylinder (float density, float radius, float length)
{
dMass ODEMass;
- PrepareCapsule(ODEMass, density, radius, length);
+ PrepareCappedCylinder(ODEMass, density, radius, length);
dBodySetMass(mODEBody, &ODEMass);
}
-void Body::AddCapsule (float density, float radius, float length, const Matrix& matrix)
+void Body::AddCappedCylinder (float density, float radius, float length, const Matrix& matrix)
{
dMass ODEMass;
- PrepareCapsule(ODEMass, density, radius, length);
+ PrepareCappedCylinder(ODEMass, density, radius, length);
AddMass(ODEMass, matrix);
}
-void Body::PrepareCapsuleTotal(dMass& mass, float total_mass, float radius, float length) const
+void Body::PrepareCappedCylinderTotal(dMass& mass, float total_mass, float radius, float length) const
{
// direction: (1=x, 2=y, 3=z)
int direction = 3;
- dMassSetCapsuleTotal(&mass, total_mass, direction, radius, length);
+ dMassSetCappedCylinderTotal(&mass, total_mass, direction, radius, length);
}
-void Body::SetCapsuleTotal(float total_mass, float radius, float length)
+void Body::SetCappedCylinderTotal(float total_mass, float radius, float length)
{
dMass ODEMass;
- PrepareCapsuleTotal(ODEMass, total_mass, radius, length);
+ PrepareCappedCylinderTotal(ODEMass, total_mass, radius, length);
dBodySetMass(mODEBody, &ODEMass);
}
-void Body::AddCapsuleTotal(float total_mass, float radius, float length, const salt::Matrix& matrix)
+void Body::AddCappedCylinderTotal(float total_mass, float radius, float length, const salt::Matrix& matrix)
{
dMass ODEMass;
- PrepareCapsuleTotal(ODEMass, total_mass, radius, length);
+ PrepareCappedCylinderTotal(ODEMass, total_mass, radius, length);
AddMass(ODEMass, matrix);
}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/body.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/body.h 2009-11-18 00:29:17 UTC (rev 100)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/body.h 2009-11-18 07:11:28 UTC (rev 101)
@@ -23,7 +23,7 @@
#define OXYGEN_BODY_H
#include <oxygen/oxygen_defines.h>
-#include <oxygen/physicsserver/ode/odeobject.h>
+#include "odeobject.h"
namespace oxygen
{
@@ -167,13 +167,13 @@
counting the spherical cap) is length. The cylinder's long axis
is oriented along the body's z axis.
*/
- void SetCapsule (float density, float radius, float length);
+ void SetCappedCylinder (float density, float radius, float length);
/* Add a mass representing a capped cylinder of the given
parameters and density, with the matrix determining its center
and orientation
*/
- void AddCapsule (float density, float radius, float length, const salt::Matrix& matrix);
+ void AddCappedCylinder (float density, float radius, float length, const salt::Matrix& matrix);
/* Set the mass parameters to represent a capped cylinder of the
given parameters and total mass, with the center of mass at
@@ -182,13 +182,13 @@
counting the spherical cap) is length. The cylinder's long axis
is oriented along the body's z axis.
*/
- void SetCapsuleTotal(float total_mass, float radius, float length);
+ void SetCappedCylinderTotal(float total_mass, float radius, float length);
/* Add a mass representing a capped cylinder of the given
parameters and total mass, with the matrix determining its
center and orientation
*/
- void AddCapsuleTotal(float total_mass, float radius, float length, const salt::Matrix& matrix);
+ void AddCappedCylinderTotal(float total_mass, float radius, float length, const salt::Matrix& matrix);
/** displace the mass center relative to the body frame */
void TranslateMass(const salt::Vector3f& v);
@@ -293,7 +293,7 @@
counting the spherical cap) is length. The cylinder's long axis
is oriented along the body's z axis.
*/
- void PrepareCapsule (dMass& mass, float density, float radius, float length) const;
+ void PrepareCappedCylinder (dMass& mass, float density, float radius, float length) const;
/* sets up an ode mass struct representing a capped cylinder of
the given parameters and total mass, with the center of mass at
@@ -302,7 +302,7 @@
counting the spherical cap) is length. The cylinder's long axis
is oriented along the body's z axis.
*/
- void PrepareCapsuleTotal(dMass& mass, float total_mass, float radius, float length) const;
+ void PrepareCappedCylinderTotal(dMass& mass, float total_mass, float radius, float length) const;
private:
/** updates internal state before physics calculation */
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/body_c.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/body_c.cpp 2009-11-18 00:29:17 UTC (rev 100)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/body_c.cpp 2009-11-18 07:11:28 UTC (rev 101)
@@ -379,7 +379,7 @@
return true;
}
-FUNCTION(Body,setCapsule)
+FUNCTION(Body,setCappedCylinder)
{
float inDensity;
float inRadius;
@@ -395,11 +395,11 @@
return false;
}
- obj->SetCapsule(inDensity,inRadius,inLength);
+ obj->SetCappedCylinder(inDensity,inRadius,inLength);
return true;
}
-FUNCTION(Body,addCapsule)
+FUNCTION(Body,addCappedCylinder)
{
float inDensity;
float inRadius;
@@ -421,11 +421,11 @@
// Matrix is allowed to be missing, defaults to identity
in.GetValue(in[3],inMat);
- obj->AddCapsule(inDensity,inRadius,inLength,inMat);
+ obj->AddCappedCylinder(inDensity,inRadius,inLength,inMat);
return true;
}
-FUNCTION(Body,setCapsuleTotal)
+FUNCTION(Body,setCappedCylinderTotal)
{
float inMassTotal;
float inRadius;
@@ -441,11 +441,11 @@
return false;
}
- obj->SetCapsuleTotal(inMassTotal,inRadius,inLength);
+ obj->SetCappedCylinderTotal(inMassTotal,inRadius,inLength);
return true;
}
-FUNCTION(Body,addCapsuleTotal)
+FUNCTION(Body,addCappedCylinderTotal)
{
float inMassTotal;
float inRadius;
@@ -466,7 +466,7 @@
// Matrix is allowed to be missing, defaults to identity
in.GetValue(in[3],inMat);
- obj->AddCapsuleTotal(inMassTotal,inRadius,inLength,inMat);
+ obj->AddCappedCylinderTotal(inMassTotal,inRadius,inLength,inMat);
return true;
}
@@ -585,10 +585,10 @@
DEFINE_FUNCTION(addCylinder);
DEFINE_FUNCTION(setCylinderTotal);
DEFINE_FUNCTION(addCylinderTotal);
- DEFINE_FUNCTION(setCapsule);
- DEFINE_FUNCTION(addCapsule);
- DEFINE_FUNCTION(setCapsuleTotal);
- DEFINE_FUNCTION(addCapsuleTotal);
+ DEFINE_FUNCTION(setCappedCylinder);
+ DEFINE_FUNCTION(addCappedCylinder);
+ DEFINE_FUNCTION(setCappedCylinderTotal);
+ DEFINE_FUNCTION(addCappedCylinderTotal);
DEFINE_FUNCTION(setMass);
DEFINE_FUNCTION(getMass);
DEFINE_FUNCTION(setVelocity);
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/boxcollider.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/boxcollider.h 2009-11-18 00:29:17 UTC (rev 100)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/boxcollider.h 2009-11-18 07:11:28 UTC (rev 101)
@@ -23,7 +23,7 @@
#define OXYGEN_BOXCOLLIDER_H
#include <oxygen/oxygen_defines.h>
-#include <oxygen/physicsserver/collider.h>
+#include "collider.h"
namespace oxygen
{
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/collider.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/collider.h 2009-11-18 00:29:17 UTC (rev 100)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/collider.h 2009-11-18 07:11:28 UTC (rev 101)
@@ -22,7 +22,7 @@
#ifndef OXYGEN_COLLIDER_H
#define OXYGEN_COLLIDER_H
-#include <oxygen/physicsserver/ode/odeobject.h>
+#include "odeobject.h"
#include <string>
#include <set>
#include <oxygen/oxygen_defines.h>
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/collisionhandler.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/collisionhandler.h 2009-11-18 00:29:17 UTC (rev 100)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/collisionhandler.h 2009-11-18 07:11:28 UTC (rev 101)
@@ -24,7 +24,7 @@
#include <oxygen/sceneserver/basenode.h>
#include <oxygen/oxygen_defines.h>
-#include <oxygen/physicsserver/ode/odewrapper.h>
+#include "odewrapper.h"
namespace oxygen
{
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/joint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/joint.h 2009-11-18 00:29:17 UTC (rev 100)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/joint.h 2009-11-18 07:11:28 UTC (rev 101)
@@ -23,7 +23,7 @@
#define OXYGEN_JOINT_H
#include <oxygen/oxygen_defines.h>
-#include <oxygen/physicsserver/ode/odeobject.h>
+#include "odeobject.h"
namespace oxygen
{
Copied: branches/multiphys/spark/lib/oxygen/physicsserver/odeobject.cpp (from rev 97, branches/multiphys/spark/lib/oxygen/physicsserver/odeobject.cpp)
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/odeobject.cpp (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/odeobject.cpp 2009-11-18 07:11:28 UTC (rev 101)
@@ -0,0 +1,167 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+ this file is part of rcssserver3D
+ Fri May 9 2003
+ Copyright (C) 2002,2003 Koblenz University
+ Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
+ $Id$
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; version 2 of the License.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+*/
+#include "odeobject.h"
+#include "space.h"
+#include "world.h"
+#include <oxygen/sceneserver/scene.h>
+#include <zeitgeist/logserver/logserver.h>
+
+using namespace oxygen;
+using namespace boost;
+
+ODEObject::ODEObject() : BaseNode()
+{
+}
+
+ODEObject::~ODEObject()
+{
+}
+
+void ODEObject::OnUnlink()
+{
+ DestroyODEObject();
+}
+
+/** returns the world node */
+shared_ptr<World> ODEObject::GetWorld()
+{
+ shared_ptr<Scene> scene = GetScene();
+ if (scene.get() == 0)
+ {
+ GetLog()->Error() << "(ODEObject) ERROR: found no Scene node\n";
+ return shared_ptr<World>();
+ }
+
+ shared_ptr<World> worldNode = shared_dynamic_cast<World>
+ (scene->GetChildOfClass("World"));
+ if (worldNode.get() == 0)
+ {
+ GetLog()->Error() << "(ODEObject) ERROR: found no World node\n";
+ }
+
+ return worldNode;
+}
+
+shared_ptr<Space> ODEObject::GetSpace()
+{
+ // try to find the nearest parent space object
+ weak_ptr<Space> parentSpace = FindParentSupportingClass<Space>();
+ if (! parentSpace.expired())
+ {
+ return parentSpace.lock();
+ }
+
+ // return the global space instance
+ shared_ptr<Scene> scene = GetScene();
+ if (scene.get() == 0)
+ {
+ GetLog()->Error() << "(ODEObject) ERROR: found no Scene node\n";
+ return shared_ptr<Space>();
+ }
+
+ shared_ptr<Space> spaceNode = shared_dynamic_cast<Space>
+ (scene->GetChildOfClass("Space"));
+ if (spaceNode.get() == 0)
+ {
+ GetLog()->Error() << "(ODEObject) ERROR: found no Space node\n";
+ }
+
+ return spaceNode;
+}
+
+dWorldID ODEObject::GetWorldID()
+{
+ shared_ptr<World> world = GetWorld();
+ if (world.get() == 0)
+ {
+ return 0;
+ }
+
+ dWorldID worldId = world->GetODEWorld();
+ if (worldId == 0)
+ {
+ GetLog()->Error()
+ << "(ODEObject) ERROR: World returned empty ODE handle\n";
+ }
+
+ return worldId;
+}
+
+dSpaceID ODEObject::FindSpaceID()
+{
+ shared_ptr<Space> space = GetSpace();
+ if (space.get() == 0)
+ {
+ return 0;
+ }
+
+ dSpaceID spaceId = space->GetODESpace();
+
+ if (spaceId == 0)
+ {
+ GetLog()->Error()
+ << "(ODEObject) ERROR: Space returned empty ODE handle\n";
+ }
+
+ return spaceId;
+}
+
+dSpaceID ODEObject::GetParentSpaceID()
+{
+ return 0;
+}
+
+void ODEObject::ConvertRotationMatrix(const salt::Matrix& rot, dMatrix3& matrix)
+{
+ matrix[0] = rot.m[0];
+ matrix[1] = rot.m[4];
+ matrix[2] = rot.m[8];
+ matrix[3] = 0;
+ matrix[4] = rot.m[1];
+ matrix[5] = rot.m[5];
+ matrix[6] = rot.m[9];
+ matrix[7] = 0;
+ matrix[8] = rot.m[2];
+ matrix[9] = rot.m[6];
+ matrix[10] = rot.m[10];
+ matrix[11] = 0;
+}
+
+void ODEObject::ConvertRotationMatrix(const dReal* matrix, salt::Matrix& rot) const
+{
+ rot.m[0] = matrix[0] ;
+ rot.m[4] = matrix[1] ;
+ rot.m[8] = matrix[2];
+ rot.m[12] = matrix[3];
+ rot.m[1] = matrix[4];
+ rot.m[5] = matrix[5];
+ rot.m[9] = matrix[6];
+ rot.m[13] = matrix[7];
+ rot.m[2] = matrix[8];
+ rot.m[6] = matrix[9];
+ rot.m[10] = matrix[10] ;
+ rot.m[14] = matrix[11];
+ rot.m[3] = 0.0;
+ rot.m[7] = 0.0;
+ rot.m[11] = 0.0;
+ rot.m[15] = 1.0;
+}
Copied: branches/multiphys/spark/lib/oxygen/physicsserver/odeobject.h (from rev 97, branches/multiphys/spark/lib/oxygen/physicsserver/odeobject.h)
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/odeobject.h (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/odeobject.h 2009-11-18 07:11:28 UTC (rev 101)
@@ -0,0 +1,83 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+ this file is part of rcssserver3D
+ Fri May 9 2003
+ Copyright (C) 2002,2003 Koblenz University
+ Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
+ $Id$
+ $Id$
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; version 2 of the License.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+*/
+#ifndef OXYGEN_ODEOBJECT_H
+#define OXYGEN_ODEOBJECT_H
+
+#include <oxygen/oxygen_defines.h>
+#include <oxygen/sceneserver/basenode.h>
+#include "odewrapper.h"
+
+namespace oxygen
+{
+class Space;
+class World;
+
+/** ODEObject is the base of all classes encapsulating ODE concepts
+ */
+class OXYGEN_API ODEObject : public BaseNode
+{
+public:
+ //
+ // Functions
+ //
+ ODEObject();
+ virtual ~ODEObject();
+
+ /** This rountine is called, before the hierarchy object is
+ removed from the parent. It can be overridden to support
+ custom 'unlink' behavior.
+ */
+ virtual void OnUnlink();
+
+ /** returns the ODE world handle */
+ dWorldID GetWorldID();
+
+ /** returns the nearest parent space ODE handle */
+ dSpaceID FindSpaceID();
+
+ /** returns the ODE handle ID of the containing parent space */
+ virtual dSpaceID GetParentSpaceID();
+
+ /** destroy the managed ODE object */
+ virtual void DestroyODEObject() = 0;
+
+protected:
+ /** returns the world node */
+ boost::shared_ptr<World> GetWorld();
+
+ /** finds the nearest parent space node */
+ boost::shared_ptr<Space> GetSpace();
+
+ /** converts the rotation part of a salt::Matrix to an ODE
+ dMatrix3 */
+ void ConvertRotationMatrix(const salt::Matrix& rot, dMatrix3& matrix);
+
+ /** coverts the ODE dMatrix3 to the rotation part of a salt::Matrix */
+ void ConvertRotationMatrix(const dReal* matrix, salt::Matrix& rot) const;
+};
+
+DECLARE_ABSTRACTCLASS(ODEObject);
+
+} //namespace oxygen
+
+#endif //OXYGEN_ODEOBJECT_H
Copied: branches/multiphys/spark/lib/oxygen/physicsserver/odeobject_c.cpp (from rev 97, branches/multiphys/spark/lib/oxygen/physicsserver/odeobject_c.cpp)
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/odeobject_c.cpp (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/odeobject_c.cpp 2009-11-18 07:11:28 UTC (rev 101)
@@ -0,0 +1,29 @@
+/* -*- mode: c++ -*-
+
+ this file is part of rcssserver3D
+ Fri May 9 2003
+ Copyright (C) 2003 Koblenz University
+ $Id$
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; version 2 of the License.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+*/
+
+#include "odeobject.h"
+
+using namespace oxygen;
+
+void CLASS(ODEObject)::DefineClass()
+{
+ DEFINE_BASECLASS(oxygen/BaseNode);
+}
Copied: branches/multiphys/spark/lib/oxygen/physicsserver/odewrapper.h (from rev 97, branches/multiphys/spark/lib/oxygen/physicsserver/odewrapper.h)
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/odewrapper.h (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/odewrapper.h 2009-11-18 07:11:28 UTC (rev 101)
@@ -0,0 +1,80 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+ this file is part of rcssserver3D
+ Fri May 9 2003
+ Copyright (C) 2002,2003 Koblenz University
+ Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
+ $Id$
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; version 2 of the License.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+*/
+#ifndef OXYGEN_ODEWRAPPER_H
+#define OXYGEN_ODEWRAPPER_H
+
+#undef EXTERN
+#undef HAVE_VPRINTF
+#undef PACKAGE
+#undef PACKAGE_BUGREPORT
+#undef PACKAGE_NAME
+#undef PACKAGE_STRING
+#undef PACKAGE_TARNAME
+#undef PACKAGE_VERSION
+#undef PREFIX
+#undef VERSION
+
+#ifdef WIN32
+
+#ifdef copysignf
+#undef copysignf
+#endif
+
+#ifdef copysign
+#undef copysign
+#endif
+
+#endif // WIN32
+
+#ifdef __APPLE__
+
+// there is a conflicting type in a system header (Leopard)
+// so we define a dummy here
+#define uint32 dummy
+
+#endif
+
+#include <ode/ode.h>
+
+#ifdef __APPLE__
+
+// undefine the dummy
+#undef uint32
+
+#endif
+
+#undef EXTERN
+#undef HAVE_VPRINTF
+#undef PACKAGE
+#undef PACKAGE_BUGREPORT
+#undef PACKAGE_NAME
+#undef PACKAGE_STRING
+#undef PACKAGE_TARNAME
+#undef PACKAGE_VERSION
+#undef PREFIX
+#undef VERSION
+
+#ifdef HAVE_CONFIG_H
+#include <sparkconfig.h>
+#endif
+
+#endif // OXYGEN_ODEWRAPPER
Deleted: branches/multiphys/spark/lib/oxygen/physicsserver/physicsobject.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/physicsobject.h 2009-11-18 00:29:17 UTC (rev 100)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/physicsobject.h 2009-11-18 07:11:28 UTC (rev 101)
@@ -1,81 +0,0 @@
-/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
-
- this file is part of rcssserver3D
- Fri May 9 2003
- Copyright (C) 2002,2003 Koblenz University
- Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
- $Id: odeobject.h 56 2009-03-17 18:03:47Z hedayat $
- $Id: odeobject.h 56 2009-03-17 18:03:47Z hedayat $
-
- This program is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; version 2 of the License.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program; if not, write to the Free Software
- Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-*/
-#ifndef OXYGEN_PHYSICSOBJECT_H
-#define OXYGEN_PHYSICSOBJECT_H
-
-#include <oxygen/oxygen_defines.h>
-#include <oxygen/physicsserver/odewrapper.h>
-#include <oxygen/sceneserver/basenode.h>
-
-namespace oxygen
-{
-class Space;
-class World;
-
-/*PhysicsObjects provides an interface for all classes
-encapsulating physics objects.*/
-
-class OXYGEN_API PhysicsObject : public BaseNode
-{
-public:
- PhysicsObject() : BaseNode(){};
- virtual ~PhysicsObject(){};
-
- /** This rountine is called, before the hierarchy object is
- removed from the parent. It can be overridden to support
- custom 'unlink' behavior.
- */
- virtual void OnUnlink() = 0;
-
- /** returns the ODE world handle */
- virtual dWorldID GetWorldID() = 0;
-
- /** returns the nearest parent space ODE handle */
- virtual dSpaceID FindSpaceID() = 0;
-
- /** returns the ODE handle ID of the containing parent space */
- virtual dSpaceID GetParentSpaceID() = 0;
-
- /** destroy the managed ODE object */
- virtual void DestroyODEObject() = 0;
-
-protected:
- /** returns the world node */
- virtual boost::shared_ptr<World> GetWorld() = 0;
-
- /** finds the nearest parent space node */
- virtual boost::shared_ptr<Space> GetSpace() = 0;
-
- /** converts the rotation part of a salt::Matrix to an ODE
- dMatrix3 */
- virtual void ConvertRotationMatrix(const salt::Matrix& rot, dMatrix3& matrix) = 0;
-
- /** coverts the ODE dMatrix3 to the rotation part of a salt::Matrix */
- virtual void ConvertRotationMatrix(const dReal* matrix, salt::Matrix& rot) const = 0;
-};
-
-DECLARE_ABSTRACTCLASS(PhysicsObject);
-
-} //namespace oxygen
-
-#endif //OXYGEN_PHYSICSOBJECT_H
Deleted: branches/multiphys/spark/lib/oxygen/physicsserver/physicsobject_c.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/physicsobject_c.cpp 2009-11-18 00:29:17 UTC (rev 100)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/physicsobject_c.cpp 2009-11-18 07:11:28 UTC (rev 101)
@@ -1,29 +0,0 @@
-/* -*- mode: c++ -*-
-
- this file is part of rcssserver3D
- Fri May 9 2003
- Copyright (C) 2003 Koblenz University
- $Id: odeobject_c.cpp 3 2008-11-21 02:38:08Z hedayat $
-
- This program is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; version 2 of the License.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program; if not, write to the Free Software
- Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-*/
-
-#include <oxygen/physicsserver/physicsobject.h>
-
-using namespace oxygen;
-
-void CLASS(PhysicsObject)::DefineClass()
-{
- DEFINE_BASECLASS(oxygen/BaseNode);
-}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/physicsserver.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/physicsserver.h 2009-11-18 00:29:17 UTC (rev 100)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/physicsserver.h 2009-11-18 07:11:28 UTC (rev 101)
@@ -25,7 +25,7 @@
#include <zeitgeist/class.h>
#include <zeitgeist/leaf.h>
#include <oxygen/oxygen_defines.h>
-#include <oxygen/physicsserver/ode/odewrapper.h>
+#include "odewrapper.h"
namespace oxygen
{
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/space.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/space.h 2009-11-18 00:29:17 UTC (rev 100)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/space.h 2009-11-18 07:11:28 UTC (rev 101)
@@ -22,7 +22,7 @@
#ifndef OXYGEN_SPACE_H
#define OXYGEN_SPACE_H
-#include <oxygen/physicsserver/ode/odeobject.h>
+#include "odeobject.h"
#include <set>
#include <oxygen/oxygen_defines.h>
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/world.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/world.cpp 2009-11-18 00:29:17 UTC (rev 100)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/world.cpp 2009-11-18 07:11:28 UTC (rev 101)
@@ -19,19 +19,16 @@
Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
*/
-#include <oxygen/physicsserver/ode/odeworld.h>
-#include <oxygen/physicsserver/world.h>
-#include <oxygen/physicsserver/space.h>
+#include "world.h"
+#include "space.h"
#include <oxygen/sceneserver/scene.h>
using namespace boost;
using namespace oxygen;
using namespace salt;
-World::World() : ODEObject()
+World::World() : ODEObject(), mODEWorld(0)
{
- shared_ptr<ODEWorld> odeworld(new ODEWorld());
- mWorldImp = (shared_dynamic_cast<WorldImp>(odeworld));
}
World::~World()
@@ -40,70 +37,102 @@
dWorldID World::GetODEWorld() const
{
- return mWorldImp->GetODEWorldImp();
+ return mODEWorld;
}
void World::SetGravity(const Vector3f& gravity)
{
- mWorldImp->SetGravityImp(gravity);
+ dWorldSetGravity(mODEWorld,
+ gravity.x(),
+ gravity.y(),
+ gravity.z()
+ );
}
salt::Vector3f World::GetGravity() const
{
- return mWorldImp->GetGravityImp();
+ dVector3 dGravity;
+ dWorldGetGravity(mODEWorld,dGravity);
+ return Vector3f(dGravity[0],dGravity[1],dGravity[2]);
}
void World::SetERP(float erp)
{
- mWorldImp->SetERPImp(erp);
+ dWorldSetERP(mODEWorld, erp);
}
float World::GetERP() const
{
- return mWorldImp->GetERPImp();
+ return dWorldGetERP(mODEWorld);
}
void World::SetCFM(float cfm)
{
- mWorldImp->SetCFMImp(cfm);
+ dWorldSetCFM(mODEWorld, cfm);
}
float World::GetCFM() const
{
- return mWorldImp->GetCFMImp();
+ return dWorldGetCFM(mODEWorld);
}
void World::Step(float deltaTime)
{
- mWorldImp->StepImp(deltaTime);
+ dWorldStep(mODEWorld, deltaTime);
}
bool World::GetAutoDisableFlag() const
{
- return mWorldImp->GetAutoDisableFlagImp();
+ return (dWorldGetAutoDisableFlag(mODEWorld) == 1);
}
void World::SetAutoDisableFlag(bool flag)
{
- mWorldImp->SetAutoDisableFlagImp(flag);
+ dWorldSetAutoDisableFlag(mODEWorld, static_cast<int>(flag));
}
void World::SetContactSurfaceLayer(float depth)
{
- mWorldImp->SetContactSurfaceLayerImp(depth);
+ dWorldSetContactSurfaceLayer(mODEWorld, depth);
}
float World::GetContactSurfaceLayer() const
{
- return mWorldImp->GetContactSurfaceLayerImp();
+ return dWorldGetContactSurfaceLayer(mODEWorld);
}
bool World::ConstructInternal()
{
- return mWorldImp->ConstructInternalImp();
+ // create an ode world
+ mODEWorld = dWorldCreate();
+
+ return (mODEWorld != 0);
}
void World::DestroyODEObject()
{
- mWorldImp->DestroyODEObjectImp();
+ static bool recurseLock = false;
+ if (recurseLock)
+ {
+ return;
+ }
+
+ recurseLock = true;
+
+ shared_ptr<Space> space = GetSpace();
+ if (space.get() != 0)
+ {
+ space->DestroyODEObject();
+ }
+
+ if (mODEWorld == 0)
+ {
+ return;
+ }
+
+ // release the ODE world
+ dWorldDestroy(mODEWorld);
+ mODEWorld = 0;
+
+ recurseLock = false;
}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/world.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/world.h 2009-11-18 00:29:17 UTC (rev 100)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/world.h 2009-11-18 07:11:28 UTC (rev 101)
@@ -23,14 +23,11 @@
#define OXYGEN_WORLD_H
#include <oxygen/oxygen_defines.h>
-#include <oxygen/physicsserver/ode/odeobject.h>
+#include "odeobject.h"
namespace oxygen
{
-class WorldImp;
-class ODEWorld;
-
/** World encapsulates an ODE world object. It is a container for
rigid bodies and joints. Objects in different worlds can not
interact, for example rigid bodies from two different worlds can
@@ -116,11 +113,12 @@
// Members
//
private:
- boost::shared_ptr<WorldImp> mWorldImp;
+ /** the dynamics world represented by this object */
+ dWorldID mODEWorld;
};
DECLARE_CLASS(World);
-}
+};
#endif //OXYGEN_WORLD_H
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/world_c.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/world_c.cpp 2009-11-18 00:29:17 UTC (rev 100)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/world_c.cpp 2009-11-18 07:11:28 UTC (rev 101)
@@ -19,7 +19,7 @@
Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
*/
-#include <oxygen/physicsserver/world.h>
+#include "world.h"
using namespace boost;
using namespace oxygen;
Modified: branches/multiphys/spark/lib/oxygen/simulationserver/agentcontrol.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/simulationserver/agentcontrol.cpp 2009-11-18 00:29:17 UTC (rev 100)
+++ branches/multiphys/spark/lib/oxygen/simulationserver/agentcontrol.cpp 2009-11-18 07:11:28 UTC (rev 101)
@@ -51,10 +51,6 @@
void AgentControl::ClientConnect(shared_ptr<Client> client)
{
- // Make sure that there is enough space in sense message cache vector
- if (client->id >= mClientSenses.size())
- mClientSenses.resize(client->id+1);
-
if (mGameControlServer.get() == 0)
{
return;
@@ -65,8 +61,6 @@
void AgentControl::ClientDisconnect(shared_ptr<Client> client)
{
- mClientSenses[client->id].clear();
-
if (mGameControlServer.get() == 0)
{
return;
@@ -130,23 +124,6 @@
}
}
-void AgentControl::SenseAgent()
-{
- int clientID;
- for (
- TAddrMap::iterator iter = mClients.begin();
- iter != mClients.end();
- ++iter
- )
- {
- clientID = iter->second->id;
- if (!mClientSenses[clientID].empty())
- {
- SendClientMessage(iter->second, mClientSenses[clientID]);
- }
- }
-}
-
void AgentControl::EndCycle()
{
NetControl::EndCycle();
@@ -169,14 +146,17 @@
return;
}
- // generate senses for all agents
+ // generate senses for all agents and send them to the
+ // corresponding net clients
+ int idx = 0;
+ vector<string> sensesArray(mClients.size());
for (
TAddrMap::iterator iter = mClients.begin();
iter != mClients.end();
- ++iter
+ ++iter, idx++
)
{
- const shared_ptr<Client> &client = (*iter).second;
+ shared_ptr<Client>& client = (*iter).second;
shared_ptr<AgentAspect> agent =
mGameControlServer->GetAgentAspect(client->id);
@@ -186,12 +166,27 @@
}
shared_ptr<PredicateList> senseList = agent->QueryPerceptors();
- mClientSenses[client->id] = parser->Generate(senseList);
- if (mClientSenses[client->id].empty())
+ sensesArray[idx] = parser->Generate(senseList);
+ if (sensesArray[idx].empty())
{
continue;
}
- mNetMessage->PrepareToSend(mClientSenses[client->id]);
+ mNetMessage->PrepareToSend(sensesArray[idx]);
}
+
+ // sending the senses
+ idx = 0;
+ for (
+ TAddrMap::iterator iter = mClients.begin();
+ iter != mClients.end();
+ ++iter, idx++
+ )
+ {
+ if (!sensesArray[idx].empty())
+ {
+ SendClientMessage(iter->second, sensesArray[idx]);
+ }
+
+ }
}
Modified: branches/multiphys/spark/lib/oxygen/simulationserver/agentcontrol.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/simulationserver/agentcontrol.h 2009-11-18 00:29:17 UTC (rev 100)
+++ branches/multiphys/spark/lib/oxygen/simulationserver/agentcontrol.h 2009-11-18 07:11:28 UTC (rev 101)
@@ -47,10 +47,7 @@
GameControlServer */
virtual void StartCycle();
- /** sends sense updates to all connected agents */
- virtual void SenseAgent();
-
- /** generates sense updates for all connected agents */
+ /** generates and sends sense updates to all connected agents */
virtual void EndCycle();
protected:
@@ -59,8 +56,6 @@
protected:
/** cached reference to the GameControlServer */
CachedPath<GameControlServer> mGameControlServer;
-
- std::vector<std::string> mClientSenses;
};
DECLARE_CLASS(AgentControl);
Modified: branches/multiphys/spark/lib/oxygen/simulationserver/netcontrol.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/simulationserver/netcontrol.cpp 2009-11-18 00:29:17 UTC (rev 100)
+++ branches/multiphys/spark/lib/oxygen/simulationserver/netcontrol.cpp 2009-11-18 07:11:28 UTC (rev 101)
@@ -159,15 +159,6 @@
return;
}
- ret = mSocket->setReuseAddr(true);
-
- if (ret < 0)
- {
- GetLog()->Warning()
- << "(NetControl) failed to enable reuse of server socket "
- << "with '" << strerror(errno) << "'\n";
- }
-
try
{
mSocket->bind(mLocalAddr);
Modified: branches/multiphys/spark/lib/oxygen/simulationserver/simulationserver.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/simulationserver/simulationserver.cpp 2009-11-18 00:29:17 UTC (rev 100)
+++ branches/multiphys/spark/lib/oxygen/simulationserver/simulationserver.cpp 2009-11-18 07:11:28 UTC (rev 101)
@@ -45,8 +45,7 @@
}
SimulationServer::SimulationServer() :
- Node(), mAdjustSpeed(false), mExitThreads(false), mMaxStepsPerCycle(3),
- mThreadBarrier(0)
+ Node(), mAdjustSpeed(false), mMaxStepsPerCycle(3), mThreadBarrier(0)
{
mSimTime = 0.0f;
mSimStep = 0.2f;
@@ -423,15 +422,14 @@
shared_ptr<SimControlNode> renderControl = GetControlNode("RenderControl");
float initDelta, finalDelta;
- while (!mExitThreads)
+ while (true)
{
++mCycle;
mThreadBarrier->wait();
- if (mExit)
- mExitThreads = true;
- // Wait for SimControlNodes' acts at the begining of a cycle
mThreadBarrier->wait();
+ if (mExit) // this check should be here so that all threads will quit
+ break;
finalDelta = initDelta = mSumDeltaTime;
mSceneServer->PrePhysicsUpdate(mSimStep);
@@ -454,7 +452,6 @@
if (renderControl
&& renderControl->GetTime() - mSimTime < 0.005f )
renderControl->EndCycle();
-
mThreadBarrier->wait();
mSumDeltaTime -= initDelta - finalDelta;
}
@@ -476,7 +473,7 @@
bool isRenderControl = (controlNode->GetName() == "RenderControl");
bool newCycle = false;
- while (!mExitThreads)
+ while ( true )
{
mThreadBarrier->wait();
newCycle = false;
@@ -489,6 +486,8 @@
controlNode->SetSimTime(mSimTime);
}
mThreadBarrier->wait();
+ if (mExit)
+ break;
if (isInputControl)
{
Modified: branches/multiphys/spark/lib/oxygen/simulationserver/simulationserver.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/simulationserver/simulationserver.h 2009-11-18 00:29:17 UTC (rev 100)
+++ branches/multiphys/spark/lib/oxygen/simulationserver/simulationserver.h 2009-11-18 07:11:28 UTC (rev 101)
@@ -220,11 +220,6 @@
/** skips physical simulation for some time to catch up real time */
bool mAdjustSpeed;
- /** in multi-threaded mode, this indicates that all threads should be
- * terminated.
- */
- bool mExitThreads;
-
/** determines the number of allowed steps per cycle when mAdjustSpeed is true */
int mMaxStepsPerCycle;
Modified: branches/multiphys/spark/plugin/rosimporter/rosimporter.cpp
===================================================================
--- branches/multiphys/spark/plugin/rosimporter/rosimporter.cpp 2009-11-18 00:29:17 UTC (rev 100)
+++ branches/multiphys/spark/plugin/rosimporter/rosimporter.cpp 2009-11-18 07:11:28 UTC (rev 101)
@@ -1036,7 +1036,7 @@
if (body.get() != 0)
{
body->SetName(S_BODY+name);
- body->SetCapsuleTotal(physical.mass, radius, height);
+ body->SetCappedCylinderTotal(physical.mass, radius, height);
GetContext().AddMass(physical.mass, Trans());
}
@@ -1055,7 +1055,7 @@
collider->AddChildReference(handler);
}
- GetLog()->Debug() << "(RosImporter) created capsule " << name << "\n";
+ GetLog()->Debug() << "(RosImporter) created capped cylinder " << name << "\n";
return ReadChildElements(transform, element);
}
@@ -2014,7 +2014,7 @@
shared_ptr<Body> body = GetContextBody(contextTransform);
if (body.get() != 0)
{
- body->AddCapsuleTotal(physical.mass, radius, height, trans.matrix);
+ body->AddCappedCylinderTotal(physical.mass, radius, height, trans.matrix);
GetContext().AddMass(physical.mass, trans);
}
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